综合考虑了摆线轮修形、制造安装误差,以及摩擦的影响,提出了一套基本能反映实际工作情况的针摆齿轮啮合力的计算方法.运用此法,可算出各对轮齿间的啮合力值,最大啮合力位置和转臂轴承受力,为摆线针轮行星传动的研究、设计及检测提供基本数据。电测实验结果证明了本文所提方法的准确可行性。 Considering the modification of the cycloid wheel, the manufacture and installation error and the frictional effect, a method of calculating the meshing force of the pin-swing gear which can basically reflect the actual working condition is proposed. By using this method, The value of meshing force, the position of the maximum meshing force and the force of the bearing of the arm, provide the basic data for the research, design and testing of cycloidal planetary gear drive. Electrical test results prove the accuracy and feasibility of the proposed method.